A work vehicle includes a variable displacement hydraulic pump driven by an engine, a hydraulic motor forming a closed circuit with the pump and driven by hydraulic fluid discharged from the pump, wheels driven by the motor to allow the work vehicle to travel, a selector detecting an operating state of a switch switching the traveling of the work vehicle between forward and backward, and a controller. When the selector detects a reversal operation of the switch to reverse the traveling direction when the work vehicle travels, the controller sets relationship between the vehicle speed of the work vehicle and the upper limit of the rotational speed of the engine such that the upper limit increases as the absolute value of the vehicle speed approaches zero. The controller obtains an upper limit of the rotational speed from the relationship and a vehicle speed of the work vehicle.